#include "path_points.h"

PathPoint::PathPoint() : is_x(false), is_y(false)
{
    x = 0;      // x position
    y = 0;      // y position
    z = 0;      // z position
    theta = 0;  // yaw in rad
    kappa = 0;  // curvature曲率
    dkappa = 0; // curvature曲率导数
    v = 0;      // Tangential velocity
    a = 0;      // Tangential acceleration
    s = 0;      // s position along spline
}

void PathPoint::set_x(const double x_)
{
    is_x = true;
    x = x_;
}
void PathPoint::set_y(const double y_)
{
    is_y = true;
    y = y_;
}
void PathPoint::set_z(const double z_)
{
    z = z_;
}
void PathPoint::set_s(const double s_)
{
    s = s_;
}
void PathPoint::set_theta(const double theta_)
{
    theta = theta_;
}
void PathPoint::set_kappa(const double kappa_)
{
    kappa = kappa_;
}
void PathPoint::set_dkappa(const double dkappa_)
{
    dkappa = dkappa_;
}
void PathPoint::set_v(const double v_)
{
    v = v_;
}
void PathPoint::set_a(const double a_)
{
    a = a_;
}
